A Comprehensive Study of Using 2D Barcode for Multi Robot Labelling and Communication

Multi robot is an emerging field in robotic research with surprisingly various open problems. Reports have been published stating the advantages of multi robot over conventional single robot, including reducing task completion time. One of the open problem as concentrated in this study is their communication. This study focuses on using a 2D QR barcode for robot labelling suitable for vision-based multi robot communication. The aim is to prove that QR barcode could be decoded in various distances as well as in different angles. Image sampling is done in controlled environment. A two-way ANOVA without repetition is used to analyze the image data in terms of successful QR decoding. ANOVA with significant level of critical α 0.05 is used and has justified that smallest variance at different distances and angular pose will give the best position in order to decode the respective QR barcode. Hence multi robot communication by means of labelling a QR label onto them has the possibilities for further research

Industrial Training as Gateway to Engineering Career: Experience Sharing

AbstractToday's engineering education demands in-depth theoretical knowledge as well as hands-on exposure to the profession. Traditionally, theoretical engineering education is achieved in campus through direct teaching and laboratory learning. However, hands-on exposure or real world confrontation provides engineering students with on-the-job experience. This helps them to decide whether their skills and industry are a good match. For specialised industries, such as manufacturing, aerospace and electronics, industrial training provides the opportunity for students to gain the most rewarding and enlightening working experience in related companies. This paper examines the industrial training experience gained by the students through a 12-week attachment period specifically looking at whether the companies have been successful in providing a relevant engineering workplace experience. A few industrial training experiences by students will be shared highlighting the positive and negative aspects. This study also suggests some steps that can be taken to ensure companies run industrial training programs that do meet the faculty's expectation

myBas driving cycle for Kuala Terengganu city

Driving cycles are series of data points that represent vehicle speed versus time sequenced profile developed for specific road, route, city or certain location. It is widely utilized in the application of vehicle manufacturers, environmentalists and traffic engineers. Since the vehicles are one of the higher air pollution sources, driving cycle is needed to evaluate the fuel consumption and exhaust emissions. The main objectives in this study are to develop and characterize the driving cycle for myBAS in Kuala Terengganu city using established k-means clustering method and to analyse the fuel consumption and emissions using advanced vehicle simulator (ADVISOR). Operation of myBAS offers 7 trunk routes and one feeder route. The research covered on two operation routes of myBAS which is Kuala Terengganu city-feeder and from Kuala Terengganu to Jeti Merang where the speed-time data is collected using on-board measurement method. In general, driving cycle is made up of a few micro-trips, defined as the trip made between two idling periods. These micro-trips cluster by using the k-means clustering method and matrix laboratory software (MATLAB) is used in developing myBAS driving cycle. Typically, developing the driving cycle based on the real-world in resulting improved the fuel economy and emissions of myBAS

Particle swarm algorithm sliding mode control on spacecraft’s attitude with switching function method thorough error feedback

Small spacecraft requires capable processors with energy efficiency, low cost and low computational burden while maintaining the output tracking accuracy. This paper presents the extension of work in [1], to enhance the transient performance using particle swarm optimization (PSO) on decaying boundary layer and switching function thorough error feedback (DBLSF) in Sliding Mode Control (SMC). Generally, SMC is known for having chattering as the main drawback which can introduce wear and tear to moving mechanical parts. As a solution, a DBLSF proposed in [1] and capable of eliminating the chattering in SMC while considering the essential requirements for small spacecraft operation. Then, the extension implemented on spacecraft's attitude, which is one-of-six subsystems in spacecraft, used to orient the spacecraft referred to reference objects and control the dynamics of a spacecraft time-to-time according to the needs. However, the SMC's transient response can be tuned using some coefficients in the SMC algorithm. The parameters in [1] were tuned using outputs observation technique. In this paper, then, an improvement is introduced to optimize the outputs by adding a PSO in the SMC-DBLSF in term of transient performances and accuracy while reducing the chattering permanently

Estimation of Nonlinear ARX Model for Soft Tissue by Wavenet and Sigmoid Estimators

This paper presents a model-based design technique to estimate the dynamic model of a nonlinear soft tissue phantom using MATLAB Simulink. The soft tissue model was developed using black-box modeling approach; simulations were performed based on acquired set of single input-output data and processed using MATLAB System Identification toolbox. Wavenet and sigmoid estimators were used to acquire the best overall performance. Comparison study has been made between the simulation and experimental results. Our finding shows that the obtained model is sufficient to represent the model of soft tissue phantom with a mean error of 4.12% compared to the real system

Reaction optimization of Aspergillus niger α-L-arabinofuranosidase for improved arabinose production from kenaf stem

There are abundant of lignocellulosic biomass readily available with varying compositions. Kenaf (Hibiscus cannabinus) is one of this lignocellulosic biomass that has a high content of hemicellulose. This particular hemicellulose is composed of high arabinoxylan, which is a xylan backbone with arabinofuranosyl branches. In order to hydrolyze arabinoxylan, a branching enzyme is needed. Therefore, α-L-arabinofuranosidase from Aspergillus niger ATCC120120 (AnabfA) was used to hydrolyzed pre-treated kenaf and the reaction conditions were optimized using central composite design (CCD) to produce a significant amount of arabinose. There were 20 experiments conducted with 1.68 star points and 6 replicates at the centre points. The reaction conditions that were optimized are enzyme loading, substrate concentration and reaction time in which resulted with 88 U AnabfA activity, 0.9% (w/v) and 48 h, respectively. These optimized conditions managed to increase the yield of arabinose with 47.17 mg/g arabinose produced

Modification of polypropylene filter with metal oxide and reduced graphene oxide for water treatment

A hydrothermal method for the synthesis of reduced graphene oxide/titanium dioxide filter (RGO/TiO2) and reduced graphene oxide/zinc oxide filter (RGO/ZnO) by using polypropylene (PP) porous filter is reported. Field emission scanning electron microscopy illustrated that the nanoparticles were uniformly distributed on the reduced graphene oxide nanosheets. Flexural tests showed that the physical properties of the modified filters have greater strength than the original filter. Thermogravimetric analysis revealed that the thermal property of the modified filters is the same as that of the original filter. Under a halogen lamp, the modified filter exhibited excellent photocatalytic degradation of methylene blue. The RGO/TiO2 filter maintained its ability to degrade MB efficiently, even after five cycles of photocatalysis

Mechanical and morphological properties of sterate modified layered double hydroxide blend with polyhydroxybutyrate/poly(lactic acid) nanocomposites

In this study, poly(3-hydroxybutyrate) (PHB)/poly(lactic acid) (PLA)/stearate modified magnesium aluminum layered double hydroxides (SMALDH) nanocomposites were prepared from PHB/PLA blend and SMALDH by solvent-casting method. The ratio of PHB/PLA was fixed at 90/10 as it gave the optimum tensile properties among the blends. Mg/Al layered double hydroxide (MALDH) was first synthesized via a co-precipitation method from nitrates salt solution and then modified with sodium stearate via an anion exchange process. X-ray diffraction (XRD) result showed an incensement in d-spacing of MALDH from 7.88 to 30.26 Å after it was modified with sodium stearate, suggested that the intercalation of stearate ions into the interlayer of MALDH. The addition of 1.5 wt% of SMALDH improved the tensile strength and tensile modulus of PHB/PLA blend by 23% and 13%, respectively. Those improvements were attributed to the improved interfacial adhesion of blend components as illustrated in scanning electron micrograph. XRD result and transmission electron micrograph showed that the nanocomposites produced are of mixture intercalated/exfoliated types

Exploring institutional reform of Korean civil service pension: advocacy coalition framework, policy knowledge and social innovation

Abstract This paper examines what factors are associated with the 2015 pension reform of Korean civil servant as social innovation. We explore what lessons we can learn from the pension reform in terms of the Advocacy Coalition Framework (ACF) model. The ACF model allows us to identify how the substantial reform is, relying on policy knowledge and entrepreneurs, possible in terms of political and social consensus. It also clearly demonstrates the possibility of systematic pension reform at an appropriate level through social learning and policy learning. Through the ACF model, we review how South Koreas civil servant pension reform act occurred at the end of May 2015. The temporal scope covers from 2009 latest reform, and the 2014s President administrative policy speech that had strongly been showed her will to reform the pension issue to the end of May 2015 when the reform bill enacted. We investigate each advocacy coalition in order to elucidate the actors that constitute the two coalition groups and to scrutinize whether a policy broker had existed in the process. We also attempt to find the relatively stable parameters and external events that affected the reform and also the belief system that shared by two advocacy coalition group. The result clearly shows that the two coalition groups shared their normative beliefs ultimately, for example, the need to change the current civil servants pension system, but, the gap in the numerical change in the policy core belief and secondary belief between the two actors had seemed to be excessively large and uncompromising. A policy broker who can coordinate the interests and interests of stakeholder groups over the government pension reform proposal was desperately needed. Negotiation and leadership of the policy entrepreneurs led to a settlement of the government pension reform proposal at the end of May 2015. Their entrepreneurial activities led to an appropriate level of social consensus on the sustainable reform of pension system through policy knowledge and learning. Further research is required to explore how models of socially innovative forms of governance are created in various pension reforms across various countries. It is also required to examine how policy entrepreneurs use policy knowledge and information for a successful institutional reform through social innovation across various countries